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1、目的
获得捷联矩阵T 的初始值
二、粗对准
1、由于捷联矩阵只能由计算机计算得到，因此得到的捷联矩阵应为Cbt^C^{\hat{t} }_bCbt^​


2、解析式粗对准
根据已知的当地经纬度 ，重力加速度 和地球自转角..." />
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        <meta property="og:description" content="一、初始对准
1、目的
获得捷联矩阵T 的初始值
二、粗对准
1、由于捷联矩阵只能由计算机计算得到，因此得到的捷联矩阵应为Cbt^C^{\hat{t} }_bCbt^​


2、解析式粗对准
根据已知的当地经纬度 ，重力加速度 和地球自转角...">
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        <meta name="twitter:description" content="一、初始对准
1、目的
获得捷联矩阵T 的初始值
二、粗对准
1、由于捷联矩阵只能由计算机计算得到，因此得到的捷联矩阵应为Cbt^C^{\hat{t} }_bCbt^​


2、解析式粗对准
根据已知的当地经纬度 ，重力加速度 和地球自转角...">
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                                <h2>
                                    5.4 捷联式惯导系统的初始对准
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                                    2023-12-17, 166 words, 1 min read
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                                        <h2 id="一-初始对准">一、初始对准</h2>
<h4 id="1-目的">1、目的</h4>
<p>获得捷联矩阵T 的初始值</p>
<h2 id="二-粗对准">二、粗对准</h2>
<p>1、由于捷联矩阵只能由计算机计算得到，因此得到的捷联矩阵应为<span class="katex"><span class="katex-mathml"><math><semantics><mrow><msubsup><mi>C</mi><mi>b</mi><mover accent="true"><mi>t</mi><mo>^</mo></mover></msubsup></mrow><annotation encoding="application/x-tex">C^{\hat{t} }_b</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1.261072em;vertical-align:-0.2831079999999999em;"></span><span class="mord"><span class="mord mathdefault" style="margin-right:0.07153em;">C</span><span class="msupsub"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:0.9779639999999999em;"><span style="top:-2.4168920000000003em;margin-left:-0.07153em;margin-right:0.05em;"><span class="pstrut" style="height:2.7em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mathdefault mtight">b</span></span></span><span style="top:-3.063em;margin-right:0.05em;"><span class="pstrut" style="height:2.7em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord accent mtight"><span class="vlist-t"><span class="vlist-r"><span class="vlist" style="height:0.87852em;"><span style="top:-2.7em;"><span class="pstrut" style="height:2.7em;"></span><span class="mord mtight"><span class="mord mathdefault mtight">t</span></span></span><span style="top:-2.88408em;"><span class="pstrut" style="height:2.7em;"></span><span class="accent-body" style="left:-0.16666em;"><span class="mtight">^</span></span></span></span></span></span></span></span></span></span></span><span class="vlist-s">​</span></span><span class="vlist-r"><span class="vlist" style="height:0.2831079999999999em;"><span></span></span></span></span></span></span></span></span></span></p>
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<h4 id="2-解析式粗对准">2、解析式粗对准</h4>
<p>根据<strong>已知的当地经纬度</strong> ，<strong>重力加速度</strong> 和<strong>地球自转角速率</strong> 以及<strong>加速度计与陀螺仪的测量值</strong>，根据计算关系式求得<span class="katex"><span class="katex-mathml"><math><semantics><mrow><msubsup><mi>C</mi><mi>b</mi><mover accent="true"><mi>t</mi><mo>^</mo></mover></msubsup></mrow><annotation encoding="application/x-tex">C^{\hat{t} }_b</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1.261072em;vertical-align:-0.2831079999999999em;"></span><span class="mord"><span class="mord mathdefault" style="margin-right:0.07153em;">C</span><span class="msupsub"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:0.9779639999999999em;"><span style="top:-2.4168920000000003em;margin-left:-0.07153em;margin-right:0.05em;"><span class="pstrut" style="height:2.7em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mathdefault mtight">b</span></span></span><span style="top:-3.063em;margin-right:0.05em;"><span class="pstrut" style="height:2.7em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord accent mtight"><span class="vlist-t"><span class="vlist-r"><span class="vlist" style="height:0.87852em;"><span style="top:-2.7em;"><span class="pstrut" style="height:2.7em;"></span><span class="mord mtight"><span class="mord mathdefault mtight">t</span></span></span><span style="top:-2.88408em;"><span class="pstrut" style="height:2.7em;"></span><span class="accent-body" style="left:-0.16666em;"><span class="mtight">^</span></span></span></span></span></span></span></span></span></span></span><span class="vlist-s">​</span></span><span class="vlist-r"><span class="vlist" style="height:0.2831079999999999em;"><span></span></span></span></span></span></span></span></span></span>的粗略值</p>
<h4 id="3-一次修正粗对准">3、一次修正粗对准</h4>
<p>在不考虑加速度计和陀螺测量误差时，确定误差角矩阵 <span class="katex"><span class="katex-mathml"><math><semantics><mrow><mi>ϕ</mi></mrow><annotation encoding="application/x-tex">\phi</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8888799999999999em;vertical-align:-0.19444em;"></span><span class="mord mathdefault">ϕ</span></span></span></span> 的粗略值。</p>
<h4 id="二-精对准">二、精对准</h4>
<p>1、方法：卡尔曼滤波</p>
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